Using a Lidar for Robot Navigation in a Room
Talkat Embedded Linux Conference + OpenIoT Summit North America 2017 · on Wednesday, 2017-02-22· at 14:00· Skyline II·
summary
A mobile robot prototype mounts a RPLIDAR A2 on a Raspberry Pi 3 with an Arduino-based motor shield, NiMH 9.6V battery and UBEC regulator, Wi‑Fi and a USB camera; the lidar samples at 4,000 samples/sec (10 Hz, 600 RPM) and ROS drivers visualize room scans into point clouds. PWM jitter and motor current (4–4.5 A stall per drive) require offloaded microcontroller and a beefy motor controller; result: room mapping works but SLAM/IMU fusion is unfinished and one drive motor failed, pending hardware swap.
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chapters (6)
- 0:00Start
- 21:42Creating a Robot
- 26:41Linux and Motor Controllers
- 32:03Choosing a Robot Platform
- 46:39Software Pieces
- 48:09Current Status
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